---
title: Models & AI
---

# Models & AI

## What It Does

Select and configure the driving model used by sunnypilot. Different models offer different driving characteristics — some may be smoother, others more responsive. Advanced parameters let you fine-tune model behavior.

## Key Features

- **Model Selection** — Choose from available driving models (offroad only)
- **Lane Turn Desire** — Enhance lane positioning during turns
- **LAGD (Live Lateral Delay Compensation)** — Dynamically measures and compensates for steering actuator delay using real-time signal correlation

## Advanced Parameters

Advanced parameters are only visible when **Show Advanced Controls** is enabled in [Developer Settings](../settings/developer.md):

- **Lane Turn Value** — Intensity of lane turn desire (500–2000)
- **LAGD Delay** — Fixed steering delay offset in milliseconds when LAGD is disabled (5–50)

## How to Configure

**Settings** → **Models**

## Settings Reference

See [Models Settings](../settings/models.md) for all configuration options.
